Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Altınpınar O. V., Contarlı E. C., Kağızman A., Uguzlar U., Cansu E., Sezer V.

2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022, Antalya, Turkey, 7 - 09 September 2022 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/asyu56188.2022.9925444
  • City: Antalya
  • Country: Turkey
  • Keywords: autonomous vehicles, lidar, ROS, SLAM, SSIM, wheelchair
  • Istanbul Technical University Affiliated: Yes


© 2022 IEEE.Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper.